CN107263538A - The filament processing structure of robot - Google Patents
The filament processing structure of robot Download PDFInfo
- Publication number
- CN107263538A CN107263538A CN201710206761.6A CN201710206761A CN107263538A CN 107263538 A CN107263538 A CN 107263538A CN 201710206761 A CN201710206761 A CN 201710206761A CN 107263538 A CN107263538 A CN 107263538A
- Authority
- CN
- China
- Prior art keywords
- filament
- group
- fixed
- pedestal
- rotary body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The present invention provides the filament processing structure (1) of robot (3), and it is easy to only change the filament for peripheral unit, and without dismantling the motor control filament acted for making robot.In the structure shown here, robot (3) includes：The rotary body (9) on the top of pedestal (8) is supported in the way of it can be rotated around vertical axis；With the multiple action axles (10 for being supported on rotary body, 11, 12), there is hollow bulb near the vertical axis of rotary body (9), comprising for drive actions axle (10, 11, 12) first group of filament of cable (30), its one end is fixed on pedestal (8), and through hollow bulb, the other end is routed to the motor for each action axle for being supported on rotary body (9), second group of filament for the peripheral unit of any one support by action axle is put together and coated using flexible conduit, through hollow bulb, pedestal (8) and rotary body (9) are fixed in the way of it can load and unload.
Description
Technical field
The present invention relates to the filament processing structure of robot.
Background technology
All the time, as the rotary shaft knot for making robot be rotated around configuration in the rotating shaft center of vertical direction
A kind of structure, it is known to following structure：It is the top that the decelerator of hollow structure is fixed on to rotary shaft pedestal, future self-powered
The driving force of dynamic motor is delivered to decelerator by spur-gearing, and the drive motor configuration is from rotating shaft center along level side
To the position of biasing (referring for example to patent document 1).According to the structure, it can be ensured that vertically passed through in the vicinity of rotating shaft center
The space worn, be readily able to processing from rotary shaft pedestal to decelerator above robot body cable or the lines of pipeline etc.
Body.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 7-108485 publications
The content of the invention
Problems to be solved by the invention
However, in the processing structure of the filament of patent document 1, because the bore of the hollow space to decelerator is limited
System, therefore there is following unfavorable condition：When in addition to for the cable of the arm of robot or the motor of wrist, it will be installed on
When running through hollow space for multiple filaments such as the pipelines or cable of peripheral unit of wrist front end, there is user can not only certainly
Change the unfavorable condition of the filament for peripheral unit by ground.
The present invention makes in view of the foregoing, and its object is to handle knot there is provided a kind of filament of robot
Structure, it is readily able to only change the filament for peripheral unit, and without dismantling the motor control acted for making robot
The filament of system.
The solution used to solve the problem
In order to achieve the above object, the present invention provides following scheme.
The scheme of the present invention is a kind of filament processing structure of robot, and the robot includes：That can enclose
The mode rotated around vertical axis is supported on the rotary body on the top of pedestal；And it is supported on multiple actions of the rotary body
Axle, has hollow bulb near the vertical axis of the rotary body, wherein, first group of filament includes described for driving
The cable of axle is acted, one end of first group of filament is fixed on the pedestal, and first group of filament runs through
The hollow bulb, the other end is routed on the motor for each action axle for being supported on the rotary body, second group of filament
For the peripheral unit of any one support by the action axle, second group of filament is put together and wrapped using flexible conduit
Cover, and through the hollow bulb, be fixed in the way of it can load and unload on the pedestal and the rotary body.In addition, according to
Situation, also has the situation for separating second group of filament respectively and being put together and coated with multiple flexible conduits.
According to this programme, first group of filament on including the cable for driving the action axle of robot in itself is used
Family need not be dismantled, but on second group of filament of the peripheral unit for being fixed on any one action axle, be passed through
Put together and coat using flexible conduit, unloaded so as to distinguish luggage of going forward side by side with first group of filament.Thus, without dismounting the
One group of filament, it becomes possible to easily only change second group of filament, and the processing operability of second group of filament can be improved
And maintainability.In the case where being separated second group of filament respectively and being put together and coated with multiple flexible conduits, also have
There is effect same as described above.
In such scheme, first group of filament is fixed on the pedestal using connector, and the connector is set
Put in one end of first group of filament, the half-way of length direction of the second group of filament in the conduit is with energy
The mode enough loaded and unloaded is fixed on the pedestal.
Like this, on including first group of filament for driving the cable for acting axle of robot in itself, in pedestal
It is middle to be relayed using connector, the carrying thus, it is possible to improve robot.On the other hand, on set by user second
Group filament, need not be relayed in pedestal, can reduce part number of packages.In addition, as other forms, also having in base
Situation about being relayed in seat.
In addition, in such scheme, first group of filament and second group of filament are fixed on for fixing
In respective fixed component on the pedestal, and together with the fixed component from top run through the hollow bulb it
Afterwards, using fixed component each described, it is fixed on the pedestal of the bottom of the rotary body.
Like this, installation site of each filament on pedestal can be predetermined, can absorbed with rotary body
Rotation and the minimal extension position of distortion or the bending of filament that produces, each filament can be fixed on base
Between seat and rotary body.
Invention effect
According to the present invention, following effect can have been given play to：It is readily able to only change the filament for peripheral unit, without
The motor control filament acted with dismounting for making robot.
Brief description of the drawings
Fig. 1 is the robot system for representing to apply the filament processing structure of the robot of one embodiment of the present invention
Overall structure figure.
Fig. 2 is the longitudinal section of the rotary shaft of the filament processing structure for the robot for representing Fig. 1.
Fig. 3 is the side view of one for representing in Fig. 2 rotary shaft, flexible conduit trunking method.
Fig. 4 is the longitudinal section of Fig. 3 rotary shaft.
Fig. 5 is to represent that the first of in the filament processing structure of Fig. 1 robot, flexible conduit trunking method becomes
The longitudinal section of the rotary shaft of shape example.
Fig. 6 is to represent that the second of in the filament processing structure of Fig. 1 robot, flexible conduit trunking method becomes
The longitudinal section of the rotary shaft of shape example.
Fig. 7 is the longitudinal section of the rotary shaft of the variation of the filament processing structure for the robot for representing Fig. 1.
Description of reference numerals
1：Filament processing structure
3：Robot
5：Welding torch (peripheral unit)
6：Wire feed unit (peripheral unit)
8：Pedestal
9：Rotary body
10：First arm (action axle)
11：Second arm (action axle)
12：First wrist element (action axle)
22：First group of filament
23：Second group of filament
29：Connector
30：Cable
31、34：Conduit
32：Fixed component
33：Bracket (fixed component)
Embodiment
Referring to the drawings, the filament processing structure 1 below to the robot 3 of one embodiment of the present invention is illustrated.
For example as shown in figure 1, the filament processing structure 1 of the robot 3 of present embodiment is applied to carry out arc welding
In robot system 100.
The robot system 100 includes：The robot 3 of multi-joint with rotary shaft 2；Control the machine of the robot 3
People's control unit 4；It is fixed on the welding torch (peripheral unit) 5 of the wrist front end of such as robot 3；It is equipped on the second following arms 11
Wire feed unit (peripheral unit) 6；And to the source of welding current 7 that welding torch 5 and wire feed unit 6 are controlled.
For example, robot 3 includes：Rotary shaft 2, it possess by be fixed on ground it is the upper support of pedestal 8, can surround
The rotary body 9 of vertical axis rotation；First arm (action axle) 10, it is arranged on this in the way of it can be swung around horizontal axis
On the rotary body 9 of rotary shaft 2；Second arm (action axle) 11, its be arranged in the way of it can be swung around horizontal axis this
On the front end of one arm 10；First wrist element (action axle) 12, it in the way of the major axis rotation of the second arm 11 can set
Put on the front end of second arm 11；Second wrist element 13, it is can surround the axis orthogonal with the major axis of the second arm 11
The mode of rotation is arranged on the front end of the first wrist element 12；And the 3rd wrist element 14, it is configured to enclose
Rotated around the axis with the axis vertical take-off of the second wrist element 13.
For driving the motor (omitting diagram) of three wrist elements 12,13,14 to be fixed on the second arm 11 or first-hand
On wrist element 12.The second arm 11 is fixed on for making the second arm 11 relative to motor that the first arm 10 is swung (omitting diagram)
On.Rotary body 9 is fixed on for making the first arm 10 relative to motor that rotary body 9 is swung (omitting diagram).In addition, with
It is fixed in making rotary body 9 relative to the motor (omitting diagram) that pedestal 8 is rotated on pedestal 8.
As shown in Fig. 2 rotary shaft 2 includes：The utilization bearing 15 that can be rotated around vertical axis is supported on the upper of pedestal 8
The rotary body 9 in portion.The gear ring 17 for constituting hypoid gear group 16 is fixed with the bottom of rotary body 9.Set in the center of gear ring 17
Through hole 18 is equipped with, cylinder part 20 is fixed with the through hole 18, cylinder part 20 is with configuration in itself and the inner surface of pedestal 8
Between oil sealing 19 form fuel tank together.The wall thickness of the radial direction of cylinder part 20 is set to very small, in cylinder part 20
Side is provided with the sufficiently large endoporus 21 of bore.
Hypoid gear group 16 engages little gear (not shown) and gear ring 17 in fuel tank.Little gear is fixed on not shown
The motor for rotary shaft 2 output shaft.Hypoid gear group 16 is in fuel tank by sufficient lubrication.
Next, the filament processing structure 1 to the robot 3 of present embodiment is illustrated.
In the present embodiment, filament includes：Including for driving each to act the of the cable 30 of axle 10,11,12
One group of filament 22；And second group of filament 23 for peripheral unit.
First group of filament 22 for a plurality of cable to motor supply electric power and control signal from constituting, the motor
For driving the first arm 10, the second arm 11 and three wrist elements 12,13,14.
Second group of filament 23 includes：The control being controlled to the motor for being used to feed in wire feed unit 6
Cable 24 processed, air hose 25, silk thread conduit 26 and service cable 27.According to circumstances, second group of filament 23 also includes weldering
Connect the control cable with sensor etc..
Possesses the connector being connected with the motor of each action axle 10,11,12 in one end of first group of filament 22, simultaneously
Possesses the connector 29 for being fixed on plate 28 in the other end of first group of filament 22, the plate 28 is used for the base for blocking rotary shaft 2
The through hole of 8 sides of seat.The connector 29 being fixed on the plate 28 of the side of pedestal 8 is connected with robot control cable 30, institute
Robot control cable 30 is stated from robot control unit 4 via the source of welding current 7 to extend.
As shown in Fig. 2 first group of filament 22, via endoporus 21, the axle of cylinder part 20 out of rotary shaft 2 pedestal 8
Hold on the inside of 15 inner ring and extended upward around the hollow bulb that the vertical axis of rotary shaft 2 is formed by rotary body 9,
And be connected with the motor of each action axle 10,11,12.
I.e., during first group of filament 22 is carried out on the plate 28 of the side of pedestal 8 of rotary shaft 2 by connector connection
After.
On the other hand, one end of second group of filament 23 is connected with the source of welding current 7, the other end of second group of filament 23 with
Welding torch 5 and wire feed unit 6 are connected, and the welding torch 5 is fixed on the 3rd wrist element 14 of robot 3, the welding wire
Feed arrangement 6 is fixed on the second arm 11.In the present embodiment, conduit (pipeline) 31 is by resin, such as aramid fibre
Such cloth or metal are constituted and have flexibility, and second group of filament 23 is put together simultaneously using the conduit (pipeline) 31
In the state of cladding, second group of filament 23 is applied in through hole set on the plate 28 of the side of pedestal 8 of rotary shaft 2,
Extend upward via above-mentioned hollow bulb, and be connected on welding torch 5 or wire feed unit 6.
Therefore, when being connected up to second group of filament 23, the position for being not used in the plate 28 of the side of pedestal 8 is relayed.
In addition, having run through second group of filament 23 of hollow bulb, the length needed for the spinning movement of rotary body 9 is endowed along the vertical direction
Degree it is more than needed in the state of, near the position of plate 28 of the side of pedestal 8 and rotary body 9 medial surface, using as U-bolt that
The fixed component 32 of sample carrys out the half-way in regular length direction.
The effect to the filament processing structure 1 of the robot 3 of present embodiment so constituted is illustrated below.
According to the filament processing structure 1 of the robot 3 of present embodiment, have the following advantages：Due to comprising for
Second group of filament 23 of the cable 24,25,26,27 of peripheral unit etc., with including the cable 30 for driving robot 3 itself
Deng first group of filament 22 separate, and using second group of filament 23 is put together and coated with flexible conduit 31, so
User is readily able to the setting operation and replacement operation of second group of filament 23 of progress.In addition, for example as shown in fig. 7, depositing
In the case where soldered sensor is used for the filament 36 of other peripheral units with control cable etc., also have has using others
The conduit 34 of flexibility, situation about being set along conduit 31, the situation also have effect same as described above.
When i.e., setting second group of filament 23, by the second group of filament 23 put together and coated using conduit 31, via rotation
The endoporus 21 of swivel 9, the inner ring inner side of bearing 15 and cylinder part 20 enters walking line untill the pedestal 8 of rotary shaft 2, from base
Seat 8 sides through hole be pulled out to after outside, near the position of plate 28 of the side of pedestal 8 and rotary body 9 medial surface, profit
With fixed component 32 as U-bolt, the half-way of the length direction of A/C 31；Or, such as Fig. 3 and Fig. 4
It is shown, it is possible to use bracket (fixed component) 33 by can along conduit 31 axial movement in the way of, the length of A/C 31
The half-way in direction.In addition, in the case where changing second group of filament 23, only dismantling fixed component 32 and together with conduit 31
Pull out together.As shown in fig. 7, in the case where there is multiple conduits 31,34, they can also be returned using fixed component 32
Hold together to be fixed, or by can along conduit 31,34 axial movement in the way of be fixed, thus also can dismantle them simultaneously
Changed.
In addition, in the filament processing structure 1 of the robot 3 of present embodiment, being used as the relaying of flexible conduit 31
Method, has used an example of the through hole that conduit 31 is disposed through on plate 28, but can replace, as shown in figure 5,
Second group of filament 23 is relayed in the outer fix of plate 28 using fixed Relay linker portion 35 on the carriage 33, and
The conduit 31 being fixed on bracket 33 is put together and coated, and the through hole being disposed through on plate 28.
In addition, as shown in fig. 6, second group of filament 23 can be by the relay connection that is fixed on the plate 28 of the side of pedestal 8
Device portion 35 is relayed, and is put together and coated by the conduit 31 fixed on the carriage 33 in hollow bulb.
In the setting operation of these filaments and replacement operation, have the following advantages：User can only handle by
Second group of filament 23 that conduit 31 is put together, without dismantling first group of filament 22, first group of filament 22 is included
For driving the cable 30 needed for robot 3.
Further, since decelerator is constituted by hypoid gear group 16, so being fixed on the output shaft of rotary shaft 2
The inner side of gear ring 17 is able to ensure that than larger space.Its result is, it can be ensured that for entering the hollow of walking line to filament
The internal diameter size in portion is larger, and is readily able to that first group of filament 22 and second group of filament 23 are configured and changed.
It is additionally, since the spinning movement institute that first group and second group of cable 24,25,26,27,30 is endowed rotary body 9
The length needed it is more than needed, so with the spinning movement of rotary body 9, can occur caused by bending and distortion in hollow bulb
Displacement, but due to may insure that the internal diameter size of hollow bulb is larger, thus between filament 22,23, filament 22,23 with
Friction between the mechanism parts such as rotary body 9 is less, and can maintain intact state for a long time.
In addition, in the present embodiment, also having the following advantages：Due to second group of filament 23, in rotary shaft 2
The part of plate 28 of pedestal 8 is then connected up in not carried out using connector, so can reduce part number of packages and reduce cost.
Furthermore it is preferred that being on the connector 29 of one end of first group of filament 22, to be fixed with advance for being fixed on base
Plate 28 on seat 8, plate 28 is configured to the size through hollow bulb, and the hollow bulb is by rotary body 9, bearing 15 and cylinder
Part 20 is constituted.Like this, make the plate 28 for being fixed with one end of first group of filament 22, rotation is extended through from top via hollow bulb
After the pedestal 8 of rotating shaft 2, only plate 28 is fixed on pedestal 8, it becomes possible to terminate operation.Therefore, with being readily able to carry out group
Pretend the advantage of industry.
Alternatively, it is also possible to fix fixed component 32 in advance in the half-way of flexible conduit 31, the conduit 31 is by the
Two groups of filaments 23 are put together and coated.Like this, second group of filament 23 is being extended through into rotary shaft 2 from top via hollow bulb
Pedestal 8 and after being pulled out from the side of pedestal 8, only fixed component 32 is fixed on pedestal 8 and rotary body 9, it becomes possible to
Terminate installation exercise.Due to being fixed on fixed component 32 in advance on the position more than needed being able to ensure that needed for acting, so peace
Industry is pretended to be easy to.Therefore, user is readily able to carry out the replacement operation of second group of filament 23.
Claims (3)
1. a kind of filament processing structure of robot, the robot includes：In the way of can be around vertical axis rotation
It is supported on the rotary body on the top of pedestal；And multiple action axles of the rotary body are supported on, described in the rotary body
There is hollow bulb near vertical axis, it is characterised in that
First group of filament includes the cable for being used for driving the action axle, and one end of first group of filament is fixed on described
On pedestal, and first group of filament runs through the hollow bulb, and the other end is routed to each that be supported on the rotary body
On the motor of the action axle,
Second group of filament is used for the peripheral unit of any one support by the action axle, and second group of filament is utilized and scratched
Property conduit put together and coat, and through the hollow bulb, the pedestal is fixed in the way of it can load and unload and described
On rotary body.
2. the filament processing structure of robot according to claim 1, it is characterised in that
First group of filament is fixed on the pedestal using connector, and the connector is arranged on first group of lines
One end of body,
The half-way of length direction of the second group of filament in the conduit is fixed on described in the way of it can load and unload
On pedestal.
3. the filament processing structure of robot according to claim 1 or 2, it is characterised in that
First group of filament and second group of filament are fixed on respective solid on the pedestal for being fixed on
Determine on part, and run through together with the fixed component from top after the hollow bulb, utilize fixed part each described
Part, is fixed on the pedestal of the bottom of the rotary body.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016077172A JP6525915B2 (en) | 2016-04-07 | 2016-04-07 | Robot's striatal processing structure |
| JP2016-077172 | 2016-04-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107263538A true CN107263538A (en) | 2017-10-20 |
| CN107263538B CN107263538B (en) | 2020-04-10 |
Family
ID=59930040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710206761.6A Active CN107263538B (en) | 2016-04-07 | 2017-03-31 | Umbilical member handling structure of robot |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10710251B2 (en) |
| JP (1) | JP6525915B2 (en) |
| CN (1) | CN107263538B (en) |
| DE (1) | DE102017205541A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716328A (en) * | 2019-03-20 | 2020-09-29 | 发那科株式会社 | Umbilical member handling structure of robot |
| CN112140140A (en) * | 2019-06-27 | 2020-12-29 | 发那科株式会社 | Rotation axis structure and robot |
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| JP6506195B2 (en) * | 2016-03-09 | 2019-04-24 | ファナック株式会社 | Rotary axis module and articulated robot |
| JP6378238B2 (en) * | 2016-04-04 | 2018-08-22 | ファナック株式会社 | Robot swivel axis structure |
| JP6792470B2 (en) * | 2017-02-01 | 2020-11-25 | 株式会社神戸製鋼所 | Articulated welding robot |
| JP6911564B2 (en) * | 2017-06-21 | 2021-07-28 | セイコーエプソン株式会社 | Robots and robot systems |
| JP6640821B2 (en) | 2017-11-24 | 2020-02-05 | ファナック株式会社 | Robot structure |
| JP6773718B2 (en) * | 2018-04-20 | 2020-10-21 | ファナック株式会社 | robot |
| JP6875332B2 (en) | 2018-07-31 | 2021-05-19 | ファナック株式会社 | robot |
| JP6923507B2 (en) * | 2018-12-27 | 2021-08-18 | ファナック株式会社 | Robot striatal processing structure |
| JP6985309B2 (en) | 2019-01-24 | 2021-12-22 | ファナック株式会社 | Striatum processing structure of robot and fixing member for striatum expansion |
| JP7101134B2 (en) | 2019-03-11 | 2022-07-14 | ファナック株式会社 | robot |
| JP7290475B2 (en) * | 2019-05-30 | 2023-06-13 | ファナック株式会社 | robot |
| JP7451889B2 (en) * | 2019-06-27 | 2024-03-19 | セイコーエプソン株式会社 | robot |
| DE112021000704T5 (en) * | 2020-03-26 | 2023-01-26 | Fanuc Corporation | Robot cable arrangement management structure |
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| Publication number | Publication date |
|---|---|
| JP2017185597A (en) | 2017-10-12 |
| US10710251B2 (en) | 2020-07-14 |
| DE102017205541A1 (en) | 2017-10-12 |
| US20170291313A1 (en) | 2017-10-12 |
| CN107263538B (en) | 2020-04-10 |
| JP6525915B2 (en) | 2019-06-05 |
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